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5 IT
Copyright © 2007 - Michele Tartara

~B = ! ^ (B
V C)

~ =V
V ~ (t) + V
~ (r)

~ (t)
V
~ (r)
V

~a = ~a(t) + ~a(r)

~a(t)
(t)
~a(t) = ~a⌦ + ~a(t,tg) + ~a(t,n)
(t)
~a⌦ ⌦
~a(t,tg)
= !˙ ^ (⌦P )
⌦P
~a(t,n)
= ! 2 (⌦P )

~a(r)

~a(c)
~a = ~a (t)
+ ~a(r)
+ ~a
(c)

~a(c) = 2! ^ Vr
!
Vr
Vr

[kg · m2 ]

O
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Copyright © 2007 - Michele Tartara

Z
JO = r2 dm
V

V O
m
h
Z
JO = ⇢h r2 dA
A

⇢ A
G
JG JO O

R22 +R12
JG = M 2 M R1 , R 2

JG = 21 M R2

R1 = R2 JG = M R2

M L2
JG = 12 L

JG = 12 (L
M 2
+ b2 ) b

X
F + FIN = 0
FIN

FIN = m·a

m a

RIN = M · aG
M aG

MIN = ¨
JG · ✓k

JG ✓¨ k

⇢
R + RIN = 0
MO⇤ + MIN + (G O) ^ RIN = 0
R MO⇤
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Copyright © 2007 - Michele Tartara

X X
W+ Wi = 0

Wm + Wp + Wr = Wi
Wm Wp Wr Wi

!˙ Wm + Wp + Wr = 0
W

W = ⇥ = · ⇥

W = ⇥

Wm

Wm = C~m ⇥ !~m

Cm !m
Wm = Cm !m
Wm = Cm !m
Wp ⌘

Wp = (1 ⌘)We

We
We Wm Wm
Jm !~˙m ⇥ !~m
Jm
We

Wr

P =m⇥g g= = 9.8 sm2 ⇥

Wr
Win
F~IN ⇥ v~g = m · a~g ⇥ v~g
C~IN ⇥ ⌦
~ = JG ⌦ ~˙ ⇥ ⌦
~ JG ~
⌦

|T~ |  f · |N
~|
T
N f f T N
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N P = mg
C = N u.
r ⇣u⌘
Wr = C! = N u! = N u! =N (!r) = P fv v
r r
P = N fv = u
r v = !r

M⇤ k⇤ c⇤

P
MO = 0

M ⇤ ẍ + c ⇤ ẋ + k ⇤ x = 0

x
q p
!= k⇤
M⇤ cc = 2 k ⇤ ·M ⇤

kequivalente

keq = k1 k2
k1 +k2

keq = k1 + k2